CN105699938B - A kind of accurate positioning method and device based on wireless signal - Google Patents
A kind of accurate positioning method and device based on wireless signal Download PDFInfo
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- CN105699938B CN105699938B CN201610059499.2A CN201610059499A CN105699938B CN 105699938 B CN105699938 B CN 105699938B CN 201610059499 A CN201610059499 A CN 201610059499A CN 105699938 B CN105699938 B CN 105699938B
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0284—Relative positioning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0252—Radio frequency fingerprinting
Abstract
This application involves a kind of accurate positioning methods and device based on wireless signal, disclose a kind of localization method and device.In unit interval, high in the clouds receive the mobile end data from mobile terminal and according to the mobile end data calculate equipment spacing between the mobile terminal and other mobile terminals from；The high in the clouds according to the spectroscopic analysis of other mobile terminals go out the mobile terminal can be searched by wireless signal described in other mobile terminals, and according to the equipment spacing between the geographical location information after the optimization of the mobile terminal and the mobile terminal and other described mobile terminals from calculating the mobile terminal and the accurate relative position in other mobile terminals, and the absolute position after being optimized；Absolute position after the relative position and the optimization is exported to the mobile terminal and draws out position real time information figure by the high in the clouds.The present invention realizes mobile terminal accurate relative positioning under multi-environment, many condition, improves absolute fix precision, while can obtain the relative position relation between mobile terminal and building or barrier.
Description
Technical field
The application belongs to field of communication technology, specifically, be related to a kind of accurate positioning method based on wireless signal and
Device.
Background technology
In recent years, popularizing with mobile equipment, location technology service increasingly has been favored by people, indoor positioning
Many easily usage experiences are all brought to life for people with outdoor positioning.
Well known mobile equipment GPS or AGPS positioning are to carry out location information by satellite and mobile equipment base station
It obtains, the mobile equipment of the no GPS functions in part can also take by the LBS geographical location information of mobile device talk base station
It is engaged in being positioned, these technologies are mainly used for carrying out outdoor positioning.
The basic principle of GPS positioning is to utilize trigonometric function telemetry.The signal of satellite launch receives needs by user
For a period of time, signaling rate by the light velocity is calculated, user distance satellite can be determined according to the time for receiving signal
Then air line distance extrapolates the physical location of user according to the distance relation of multi-satellite and user.The advantages of GPS is positioning
Relatively precisely, in sunny open air, the precision of civilian GPS is up to 10 meter levels, but GPS is easily protected from environmental, such as wild
The forest at outer cloudy day, the sky have cloud, ionosphere that can all be had an impact to satellite-signal it could even be possible to positioning failure.Certainly, GPS
Maximum limitation is cannot to be used inside such as building in the space of closing, this is one very big for indoor positioning
Limitation.
A-GPS (Assisted GPS) i.e. assisted-GPS technologies, it is quick fixed that it can be realized by mobile communication operators base station
Position.It, may be many for the satellite emission signal of GPS positioning when under very poor signal conditioning, such as in a city
Irregular building, wall or trees weaken.In such a situa-tion, A-GPS systems can pass through operator's base station information
Quickly to be positioned.But A-GPS there is also it is many defects of, A-GPS first positioning realization must pass through multiple network
Transmission (at most up to six one-way transmissions), this is considered as largely occupying air resource for operator.And
AGPS mobile phones have certain added burden than general mobile phone in power consumption, have shortened the stand-by time of mobile phone indirectly.Secondly A-GPS
The precision of technology is very low, even if in outdoor, positioning accuracy is still in hundred meter levels.Certain most important defect is as with gps, indoor
Positioning still remains very big limitation, and due to factors such as barrier, signal attenuation, positioning accuracy indoors is often thousand
Meter level.
In the buildings such as basement or large-scale indoor shopping square, indoor positioning problem can not solve.It is because indoor
Building structure it is complicated, traditional alignment system is allowed to lose effect, is needed by Wi-Fi or ZigBee, RFID, bluetooth
(Bluetooth) etc. technologies realize indoor be accurately positioned.
In existing indoor accurate position technology, it usually needs reference point is laid in advance, such as RADAR indoor positionings
Method, HORUS system positioning methods etc..RADAR is an indoor locating system based on WLAN, which relies on indoor
Wifi equipment is positioned.This alignment system needs to choose reference point in environment indoors, using Euclidean distance and wirelessly
The characteristic that electric signal is propagated indoors realizes the positioning to target unit.But since indoor environment is extremely complex, wall, table
Chair, bookcase and other items has serious interference to signal, can generate serious multipath effect to signal.And multipath effect can cause
Serious intersymbol interference can not be promoted so as to cause RADAR indoor position accuracies, and actual use value is not high.
HORUS system indoor orientation methods are a wlan indoor locating systems based entirely on fingerprint database.This is
It unites without the radio signal model using complexity, and the reference data points being the increase in the indoor environment for needing to position
Amount, so as to realize that system positions by the information in comparison data library.HORUS localization methods remain very big ask
Topic, first, the increase of reference point cause system to need to spend more man power and materials in offline sample phase, and this from
If line sampling process indoor environment once changes, offline sampling must be just re-started.This causes location database only
An appearance in a region can be coped with, it is impossible to flexible to use.Since the noise neither one of indoor signal is high-precision
Model, in this approach he approximately can only be simulated and be estimated using Gauss model.But what reality positioned indoors
In the process, Gauss model may not be able to agree with well, and therefore, HORUS system indoor orientation method accuracy is low, cost
It is again very high.
It can be seen that indoor environment is a complex environment, signal is in communication process by indoor personnel and article
The influence of wall, attenuation is bigger, brings difficulty to the people under indoor environment and being accurately positioned for article in this way.Setting reference
Datum mark not only expends positioning cost, while datum mark is also easily influenced in itself by indoor environment.However, in practical application
In, accurate indoor positioning has very high use value.For example, when under the environment such as building, basement, mine, garage
Such as fire is occurring for personnel and article, and earthquake has a set of effective indoor locating system when disasters, and it is real to be beneficial to us
It applies quick and accurately rescues, reduce the injury to people and article.Therefore, a high-precision indoor orientation method urgently carries
Go out.
Invention content
Conventional mobile device positioning method error in closed interval is larger, and then can not obtain accurate between mobile equipment
Relative position, in view of this, there is provided a kind of accurate fixed based on wireless signal for technical problems to be solved in this application
Position method and device.The present invention using based on wireless signal (bluetooth, WiFi, ZigBee etc.) intensity, be aided with the GPS/ Big Dippeves/
The positioning methods such as wifi/ base stations/ground magnetic orientation, realize mobile terminal a variety of environment, it is a variety of under the conditions of accurately relative positioning, together
When can obtain and build or the relative position relation of barrier.
This application discloses a kind of accurate positioning method based on wireless signal, the realization of mobile end side is mainly including following
Step：
Within the unit interval, mobile terminal obtains and optimizes the geographical location information of itself, after obtaining the mobile terminal optimization
Geographical location information；
The mobile terminal receives and optimizes the wireless signal strength of other mobile terminals, obtains the optimization of other mobile terminals
Wireless signal strength afterwards, and obtain from the wireless signal mark of other mobile terminals；
The mobile terminal itself is optimized after geographical location information, reception and optimize after described in other mobile terminals nothing
Line signal strength, the mark of other mobile terminals are sent to high in the clouds in real time；So that the high in the clouds is received according to the mobile terminal
And optimize after other mobile terminals wireless signal strength and other described mobile terminals receive and optimize after the shifting
The wireless signal strength of moved end calculate equipment spacing between the mobile terminal and other described mobile terminals from；The high in the clouds according to
The spectroscopic analysis of other mobile terminals go out the mobile terminal by wireless signal can search described in other mobile terminals
Quantity, and according to the self geographical position information after the optimization of the mobile terminal and the equipment spacing from described in calculating
Mobile terminal and the accurate relative position in other mobile terminals, and the absolute position after being optimized；The high in the clouds is by the shifting
The absolute position of moved end and other described mobile terminals accurately after the relative position and the optimization is exported to the mobile terminal
And the position real time information figure centered on the geographical location of the mobile terminal is drawn out in the mobile terminal.
This application discloses a kind of accurate positioning method based on wireless signal, the realization of high in the clouds side mainly includes following step
Suddenly：
Within the unit interval, high in the clouds receives the mobile end data from mobile terminal, wherein the mobile terminal data include institute
State mobile terminal itself optimization after geographical location information, the mobile terminal receive and optimize after other mobile terminals wireless signal
Intensity, the mark of other mobile terminals, wherein the mobile terminal that is identified as of other mobile terminals passes through other described mobile terminals
The wireless signal identifier of other mobile terminals that gets of wireless signal；
The high in the clouds received according to the mobile terminal and the wireless signal strength of other mobile terminals described in after optimizing and
Other described mobile terminals receive and optimize after the mobile terminal wireless signal strength calculate the mobile terminal with it is described other
Equipment spacing between mobile terminal from；
The high in the clouds goes out the mobile terminal according to the spectroscopic analysis of other mobile terminals can be searched for by wireless signal
Other the described mobile terminals arrived, and according to the geographical location information after the optimization of the mobile terminal and the mobile terminal with
The equipment spacing between other described mobile terminals is accurately opposite from the mobile terminal and other described mobile terminals are calculated
Position, and the absolute position after being optimized；
It the high in the clouds will be behind the mobile terminal and other described mobile terminals accurately relative position and the optimization
Absolute position exports to the mobile terminal and is drawn out centered on the geographical location of the mobile terminal in the mobile terminal
Position real time information figure.
This application discloses a kind of accurate positioning device based on wireless signal, positioned at mobile end side, including following list
Member：
Geographical location information acquiring unit within the unit interval, obtaining and optimizing the geographical location information of itself, obtains
Geographical location information after optimizing to the mobile terminal；
Received signal strength acquiring unit for receiving and optimizing the wireless signal strength of other mobile terminals, obtains described
Wireless signal strength after the optimization of other mobile terminals, and obtain from the wireless signal mark of other mobile terminals；
Data transceiving unit, for after itself is optimized geographical location information, reception and after optimizing described in other shiftings
The wireless signal strength of moved end, other mobile terminals mark be sent to high in the clouds in real time；So that the high in the clouds is according to the shifting
Moved end receive and optimize after other mobile terminals wireless signal strength and after other described mobile terminals receive and optimize
The mobile terminal wireless signal strength calculate equipment spacing between the mobile terminal and other described mobile terminals from；It is described
High in the clouds according to the spectroscopic analysis of other mobile terminals go out the mobile terminal can be searched by wireless signal described in other
The quantity of mobile terminal, and according to the self geographical position information after the optimization of the mobile terminal and the equipment spacing from meter
The mobile terminal and the accurate relative position in other mobile terminals are calculated, and the absolute position after being optimized；The high in the clouds
Absolute position behind the mobile terminal and other described mobile terminals accurately relative position and the optimization is exported to institute
It states mobile terminal and the position real time information figure centered on the geographical location of the mobile terminal is drawn out in the mobile terminal.
This application discloses a kind of accurate positioning device based on wireless signal, positioned at high in the clouds side, including such as lower unit：
Data receipt unit, within the unit interval, receiving the mobile end data from mobile terminal, wherein the movement
Other movements after end data includes the geographical location information after the optimization of the mobile terminal itself, the mobile terminal receives and optimizes
The wireless signal strength at end, the mark of other mobile terminals, wherein the mobile terminal that is identified as of other mobile terminals passes through institute
State the wireless signal identifier of other mobile terminals that the wireless signal of other mobile terminals is got；
Metrics calculation unit, for received according to the mobile terminal and after optimizing described in other mobile terminals wireless signal
Intensity and other described mobile terminals receive and optimize after the mobile terminal wireless signal strength calculate the mobile terminal with
Equipment spacing between other described mobile terminals from；
Position calculation unit passes through wireless signal for going out the mobile terminal according to the spectroscopic analysis of other mobile terminals
Other the described mobile terminals that can be searched, and according to the geographical location information after the optimization of the mobile terminal and described
The equipment spacing between mobile terminal and other described mobile terminals is smart from the mobile terminal and other described mobile terminals are calculated
True relative position, and the absolute position after being optimized；
Position output unit, for by the accurate relative position and described in the mobile terminal and other described mobile terminals
Absolute position after optimization exports to the mobile terminal and is drawn out in the mobile terminal with the geographical location of the mobile terminal
Centered on position real time information figure.
This application discloses a kind of Precise Position System based on wireless signal, including mobile terminal and high in the clouds；Wherein, it is mobile
End includes the above-mentioned accurate positioning device based on wireless signal for being located at mobile end side, and high in the clouds includes the above-mentioned base positioned at high in the clouds side
In the accurate positioning device of wireless signal.
Compared with prior art, the application can be obtained including following technique effect：
1) positioning accuracy is high.Only has 10 meter levels, the positioning accuracy of the application relative to the positioning accuracy of the modes such as traditional GPS
Meter level can be reached.
2) preset reference point is not depended on.The location technology of the application be based on the wireless communication technique between mobile equipment into
Row relative position is accurately positioned, and is aided with coarse localization mode, completes accurate absolute location information.And other are accurately positioned at present
Scheme is required for relying on the reference point laid in advance.
3) environmental suitability is strong.The application relies primarily on the measurement of the distance between mobile terminal, so in bad weather or room
In the case of no satellite positioning such as interior, in the case where basement, subway or remote mountain areas etc. are without GSM base station locations, according to
It so can determine the exact position of mobile terminal.
4) it is accurate to learn that mobile terminal in the room or outside, definitely learns that mobile terminal in same physical area, further carries
High indoor position accuracy.
Certainly, implementing any product of the application must be not necessarily required to reach all the above technique effect simultaneously.
Description of the drawings
Attached drawing described herein is used for providing further understanding of the present application, forms the part of the application, this Shen
Illustrative embodiments and their description please do not form the improper restriction to the application for explaining the application.In the accompanying drawings：
Fig. 1 is the techniqueflow chart of the embodiment of the present application one；
Fig. 2 is the techniqueflow chart of the embodiment of the present application two；
Fig. 3 is the techniqueflow chart of the embodiment of the present application three；
Fig. 4 is the techniqueflow chart of the embodiment of the present application four；
Fig. 5 is the structure drawing of device of the embodiment of the present application five；
Fig. 6 is the structure drawing of device of the embodiment of the present application six；
Fig. 7 is the mobile terminal traversal connection schematic diagram of the embodiment of the present application two；
Fig. 8 is the environmental attenuation test table of the embodiment of the present application four；
Fig. 9 is another environmental attenuation test table of the embodiment of the present application four；
Figure 10 is that the physical region of the embodiment of the present application four divides schematic diagram.
Specific embodiment
Not high for the precision of traditional position location techniques and the defects of easily limited by indoor environment, present applicant proposes a kind of bases
In the accurate positioning method and device of wireless signal, the embodiment party of the application is described in detail below in conjunction with accompanying drawings and embodiments
Formula, thereby to the application, how applied technology method solves technical problem and reaches the realization process of technical effect fully to manage
It solves and implements according to this.
The core of the present invention is, carries out advance unified definition to the mark of all mobile terminals for participating in positioning, authorizes every
A mobile terminal independence, unique, uniform format identity, to differentiate the source of the wireless signal received like clockwork；
It is and strong to the wireless signal of the optimization of self geographical position information and other mobile terminals to receiving by each mobile terminal
The optimization of degree calculates accurate relative distance between mobile terminal, accurate indoor relative positioning is realized, so as to further carry
High indoor absolute fix precision；Under the auxiliary for not obtaining outdoor positioning, other movements for being received by multiple mobile terminals
The wireless signal strength at end carries out data fitting, obtains accurate relative positioning between multiple mobile terminals.
The present invention core also reside in, pre-establish the mobile-terminated wireless signal strength received and different propagation mediums it
Between the attenuation table of comparisons, multiple mobile terminals carry out the division of physical region, and obtain under indoor positioning, the resistances such as mobile terminal and wall
The relatively geographical position relationship of parting.
In the embodiment of the present invention, being accurately positioned based on wireless signal is mainly realized in mobile end side by following steps：
Within the unit interval, mobile terminal obtains and optimizes the geographical location information of itself, after obtaining the mobile terminal optimization
Geographical location information；
The mobile terminal receives and optimizes the wireless signal strength of other mobile terminals, obtains the optimization of other mobile terminals
Wireless signal strength afterwards, and obtain from the wireless signal mark of other mobile terminals；
The mobile terminal itself is optimized after geographical location information, reception and optimize after described in other mobile terminals nothing
Line signal strength, the mark of other mobile terminals are sent to high in the clouds in real time；So that the high in the clouds is received according to the mobile terminal
And optimize after other mobile terminals wireless signal strength and other described mobile terminals receive and optimize after the shifting
The wireless signal strength of moved end calculate equipment spacing between the mobile terminal and other described mobile terminals from；The high in the clouds according to
The spectroscopic analysis of other mobile terminals go out the mobile terminal by wireless signal can search described in other mobile terminals
Quantity, and according to the self geographical position information after the optimization of the mobile terminal and the equipment spacing from described in calculating
Mobile terminal and the accurate relative position in other mobile terminals, and the absolute position after being optimized；The high in the clouds is by the shifting
The absolute position of moved end and other described mobile terminals accurately after the relative position and the optimization is exported to the mobile terminal
And the position real time information figure centered on the geographical location of the mobile terminal is drawn out in the mobile terminal.
In the embodiment of the present invention, being accurately positioned based on wireless signal is mainly realized in high in the clouds side by following steps：
Within the unit interval, high in the clouds receives the mobile end data from mobile terminal, wherein the mobile terminal data include institute
State mobile terminal itself optimization after geographical location information, the mobile terminal receive and optimize after other mobile terminals wireless signal
Intensity, the mark of other mobile terminals, wherein the mobile terminal that is identified as of other mobile terminals passes through other described mobile terminals
The wireless signal identifier of other mobile terminals that gets of wireless signal；
The high in the clouds received according to the mobile terminal and the wireless signal strength of other mobile terminals described in after optimizing and
Other described mobile terminals receive and optimize after the mobile terminal wireless signal strength calculate the mobile terminal with it is described other
Equipment spacing between mobile terminal from；
The high in the clouds goes out the mobile terminal according to the spectroscopic analysis of other mobile terminals can be searched for by wireless signal
Other the described mobile terminals arrived, and according to the geographical location information after the optimization of the mobile terminal and the mobile terminal with
The equipment spacing between other described mobile terminals is accurately opposite from the mobile terminal and other described mobile terminals are calculated
Position, and the absolute position after being optimized；
It the high in the clouds will be behind the mobile terminal and other described mobile terminals accurately relative position and the optimization
Absolute position exports to the mobile terminal and is drawn out centered on the geographical location of the mobile terminal in the mobile terminal
Position real time information figure.
High in the clouds and the respective embodiment in mobile terminal and high in the clouds will be introduced respectively by more specifical embodiment below
With the embodiment of mobile terminal cooperating.
Embodiment one
Fig. 1 is the techniqueflow chart of the embodiment of the present invention one, and with reference to Fig. 1, the application is a kind of based on the accurate of wireless signal
In localization method, the overall workflow of mobile end side and high in the clouds side is as described below：
Step 101：Within the unit interval, mobile terminal obtains and optimizes the geographical location information of itself, obtains the movement
Geographical location information after the optimization of end；
The modes such as GPS positioning or the communication base station positioning that mobile terminal passes through itself can obtain itself rough geographical position
Confidence ceases, but because being influenced by disturbing factors such as weather conditions, radio, veils, within a period of time, mobile terminal is determined
Position is not only there are one as a result, a little error may be generated, therefore, if being intended to obtain more accurate positioning, mobile terminal need by
The geographical location information of itself optimizes to obtain more accurate self geographical position information.When each mobile terminal is to certainly
After body geographical location information optimizes, what high in the clouds received is the mobile end data after optimizing, so as to ensure that basis
The mobile terminal relative position and absolute position that mobile end data after optimization calculates are more accurate.
Step 102：The mobile terminal receives and optimizes the wireless signal strength of other mobile terminals, obtains other described movements
Wireless signal strength after the optimization at end, and obtain from the wireless signal mark of other mobile terminals；
Each mobile terminal is in transmitting wireless signal outward, with the propagation of wireless signal, other existing movements of surrounding
Termination has received the wireless signal of mobile terminal transmitting, and according to the distance of propagation and medium difference, the intensity of wireless signal generates
Attenuation in varying degrees.Therefore, each mobile terminal need to send the wireless signal strength value of other mobile terminals received
To high in the clouds so that high in the clouds can accurately judge the relatively geographical position between several mobile terminals according to the wireless signal strength after attenuation
Put and different mobile terminal between which kind of propagation medium be separated by.
The wireless signal of mobile terminal transmitting is in communication process easily by air humidity, electrical equipment signal, weather conditions etc.
Deng influence, within a period of time, the usually non-definite value of wireless signal strength of mobile-terminated other mobile terminals received, accidentally
Difference be it is often existing, therefore, mobile terminal need to by the wireless signal strength of other mobile terminals received within the unit interval into
Row optimization obtains a more rational value, and optimal way can be the method being averaged, and can be Gauss weighted sum
The method that method or sequence take intermediate value, certain embodiment of the present invention are not limited in above-mentioned three kinds of methods.
While receiving and optimize other mobile terminal wireless signal strengths, each mobile terminal passes through other mobile terminals
Wireless signal can get the mark of other corresponding mobile terminals, this mark is can be identified for what mobile terminal was set in advance
Mobile terminal uniquely identifies, for distinguishing and marking each different mobile terminals and its corresponding wireless signal strength.
Step 103：The mobile terminal itself is optimized after geographical location information, reception and optimize after described in other shifting
The wireless signal strength of moved end, other mobile terminals mark be sent to high in the clouds in real time；
Step 104：Within the unit interval, high in the clouds receives the mobile end data from mobile terminal, wherein the mobile terminal number
According to after optimizing including the mobile terminal itself geographical location information, the mobile terminal receives and other mobile terminals after optimizing
Wireless signal strength, the mark of other mobile terminals, wherein other mobile terminals be identified as the mobile terminal by it is described its
The wireless signal identifier of other mobile terminals that the wireless signal of his mobile terminal is got；
Step 105：The high in the clouds is received according to the mobile terminal and the wireless signal of other mobile terminals described in after optimizing
Intensity and other described mobile terminals receive and optimize after the mobile terminal wireless signal strength calculate the mobile terminal with
Equipment spacing between other described mobile terminals from；
In the communication process of wireless signal, with the increase of propagation distance, attenuation degree can also increase therewith, therefore,
According to wireless signal between two mobile terminals through a distance generate attenuation after intensity can calculate two movement equipment it
Between distance.
Step 106：The high in the clouds goes out the mobile terminal according to the spectroscopic analysis of other mobile terminals and passes through wireless signal
Other the described mobile terminals that can be searched, and according to the geographical location information after the optimization of the mobile terminal and described
The equipment spacing between mobile terminal and other described mobile terminals is smart with other described mobile terminals from the mobile terminal is calculated
True relative position, and the absolute position after being optimized；
Each mobile terminal when uploading data to high in the clouds, upload the mark of other movement equipment that it can search with
And each identifying corresponding wireless signal strength, i.e., the data that the mobile terminal that any two can search mutually uploads all include
Can identify the mark of other side mobile terminal and receive with the corresponding wireless signal strength of mark.If in a certain room,
One mobile terminal has issued Location Request to high in the clouds, then high in the clouds uploads the mark in data according to this mobile terminal for sending out request
Know analysis to obtain sending out other mobile terminals that the mobile terminal of Location Request can search, and read high in the clouds and calculated completion
The equipment spacing that the mobile terminal of request is sent out between other the described mobile terminals that can search from, this send out the shifting of request
Equipment spacing between other described mobile terminals that moved end can search from, this send out the mobile terminal of request with searching indirectly
Other described mobile terminals between equipment spacing from can realize the mobile equipment for sending out Location Request is carried out it is accurate
Relative positioning is aided with the self geographical position information that the mobile terminal and other described mobile terminals are uploaded to high in the clouds, can be simultaneously
Obtain the absolute fix after precision optimizing, wherein the indirect search pass through for the mobile terminal for sending out request it is a certain number of
Mobile terminal searches other other a certain number of mobile terminals.It should be noted that this step can also have following realization side
Formula, if in a certain room, a mobile terminal has issued Location Request to high in the clouds, and high in the clouds sends out the mobile terminal of request according to this
Geographical location information inquires the mark and geographical location information of other mobile terminals nearby by Redis Geo technologies.Described in reading
The distance between the distance between other mobile terminals, the mobile terminal and other described mobile terminals can be realized to send out this and determine
The mobile equipment of position request carries out accurate relative positioning.Wherein, Redis Geo are the location-based service modules that Redis is increased newly, are carried
The order for having off position calculating to be stored with position for many can directly invoke.
Step 107：The high in the clouds is by the accurate relative position and described in the mobile terminal and other described mobile terminals
Absolute position after optimization exports to the mobile terminal and is drawn out in the mobile terminal with the geographical location of the mobile terminal
Centered on position real time information figure.
In the embodiment of the present invention, using based between wireless transmission signal Strength co-mputation mobile terminal it is accurate opposite away from
From, be aided with traditional positioning method and calculate relative bearing between mobile terminal, realize mobile terminal and its can search other
Mobile terminal a variety of environment, it is a variety of under the conditions of accurate relative positioning.And position fixing process is not required to preset reference datum mark, only needs
Precise positioning can be realized using other movement equipment, the cost of positioning has been greatly saved while positioning accuracy is improved.
Embodiment two
Fig. 2 is the techniqueflow chart of the embodiment of the present application two, and with reference to Fig. 2, the application is a kind of based on the accurate of wireless signal
It in localization method, needs to carry out data preparation in advance, following two steps are the process of data preparation, but noticeable
It is that the sequence of priority is had no between following two step of the embodiment of the present invention.
Step 201：Reference signal strength during signal is sended and received by testing between distinct device, establishes transmitting signal
Mobile terminal and receive the signal strength table of comparisons when mobile terminal end of signal is separated by unit distance.
The transmission of wireless signal has a certain distance limitation, and with the increase of transmission range, the intensity of wireless signal is gradual
Weaken, on the other hand, platform and the system difference of mobile equipment, then the mechanism that sends and receives of wireless signal also differs, because
This, in the embodiment of the present invention, beforehand through a large amount of experiment and measures, obtain distinct device it is spaced apart when wireless signal
The table of comparisons of intensity.Such as the mobile phone based on Android system and the hand based on ios systems can be tested by many experiments
In the case where being spaced 1 meter, intensity or test that the wireless signal of other side can be received between mobile phone are based on machine
The mobile phone of Android system and the wireless signal strength based on the mobile phone of homologous ray when being spaced 2 meters.Through testing repeatedly, will
The data arrived are into row-column list so that subsequent query uses.Wherein, the wireless signal includes but not limited to bluetooth, RFID, WLAN
With WiFi/WAPI, zigbee, infrared etc..
Step 202：By testing influence of the different propagation mediums to wireless signal strength, not simultaneous interpretation in unit distance is established
Broadcast the table of comparisons of medium and wireless signal strength pad value.
Different propagation medium, that is, barriers be to the weakening degree of wireless signal it is different, such as barrier metallization,
Armored concrete barrier, overrich gas etc..Therefore, in order to reduce the error of precise positioning under varying environment, need by
A large amount of experiment, to test the degree that wireless signal is weakened under various circumstances.
In the embodiment of the present invention, wireless signal strength is differentiated using RSSI, different physics are passed through to wireless signal
Strength retrogression during interval carries out a large amount of tests of plurality of devices, plurality of devices, obtains wireless signal under regular length and passes through brick
After the various materials barriers such as wall, plaster wall, Mu Qiang, concrete walls, glass, glass curtain wall, metal compartment, glass fibre compartment
RSSI, generation barrier RSSI attenuation the table of comparisons, as shown in Figure 8 and Figure 9.Certainly the type of barrier is not above-mentioned several, this
Above-mentioned several barriers are enumerated in inventive embodiments to be used for the purpose of for example, being actually not limited in above-mentioned barrier
Type.
Assuming that the distance of transmitting terminal and receiving terminal is 1 meter, Fig. 8 and Fig. 9 are respectively the spacious environment under identical appointed condition
Middle radio signal attenuation situation is compared.If the comparison between Fig. 8 and Fig. 9 is pair of different equipment under the same conditions
According to.RSSI value in unit distance under varying environment can obtain environmental attenuation factor of n to the quotient of standard RSSI value.
Establish the barrier RSSI attenuation tables of comparisons purpose essentially consist in judge the mobile terminal and other described mobile terminals it
Between whether have barrier and which kind of barrier, when carrying out indoor positioning especially in a damaged condition, can judge to obstruct
The type of object is a kind of greatly promotion to the value of indoor positioning.
Embodiment three
In the embodiment of the present invention, the operating procedure of mobile terminal side is mainly as follows：
Step 301：Within the unit interval, mobile terminal obtains and optimizes the geographical location information of itself, obtains the movement
Geographical location information after the optimization of end；
In the embodiment of the present invention, the mobile terminal obtains the geographical location information of itself, the positioning by positioning method
Mode include GPS positioning, the Big Dipper positioning, WiFi positioning, magnetic orientation, base station location；
The principle of GPS positioning relies primarily on the satellite of space segment, and the space segment of GPS is made of 24 satellites
(21 operational satellites, 3 backup satellites), it is located at the overhead away from earth's surface 20200km, is evenly distributed in 6 orbital planes (every
A orbital plane 4), orbit inclination angle is 55 °.The distribution of satellite all to can observe 4 Anywhere, any time in the whole world
Above satellite, and the location information that can be prestored in the satel-lite.The satellite of GPS is because of the problems such as air rubs, with the time
Passage, positioning accuracy can continuously decrease.
Big-dipper satellite alignment system is one kind of GPS, the basic principle of work be measure it is known
For the satellite of position the distance between to receiver user, the data for then integrating multi-satellite just may know that the specific position of receiver
It puts.Reach this purpose, the position of satellite can be found according to the time that spaceborne clock is recorded in satellite ephemeris.And it uses
The time that the distance of family to satellite then travels to user and undergone by noting down satellite-signal, then be multiplied by the light velocity obtain (by
Interference in atmosphere ionosphere, this distance are not the actual distance between user and satellite, but pseudorange (PR)：Work as north
During the satellite normal work for the satellite system of behavior that struggles against, the pseudo noise code that can be constantly formed with 1 and 0 binary element is (referred to as pseudo-
Code) transmitting positioning text.It positions text and includes satellite ephemeris, working condition, clock correction, ionospheric delay amendment, air folding
Penetrate the information such as amendment.It is to demodulate to come out from satellite-signal, is modulated at what is emitted on carrier frequency with 50b/s.When user receives
During to positioning text, satellite and the distance of user can be learnt by extracting satellite time and it being done comparison with the clock of oneself,
Present position when satellite almanac data in recycling positioning text extrapolates satellite launch text, user sit in WGS-84 the earth
The information such as the position and speed in mark system can be learnt.
Wi-Fi can position user, because in these mobile phone operations of Android, iOS and Windows Phone
Built-in location-based service in system, since each Wi-Fi Hotspot is there are one unique Mac addresses, smart mobile phone is opened
Open after Wi-Fi will automatically scanning nearby hot spot and upload its location information, thus establish a huge hotspot location
Database.This database is the key that user is positioned.Each wireless aps (router) is unique there are one the whole world
MAC Address, and in general wireless aps will not move whithin a period of time；Equipment is in the case where opening Wi-Fi
The AP signals of surrounding are scanned and collect, regardless of whether encryption, if connected or even signal strength is not enough to be shown in wireless communication
In number list, the MAC Address that AP is broadcast out can be got；The data that these can be indicated AP by equipment are sent to position
Server, server retrieves the geographical location of each AP, and combines the degree of strength of each signal, calculates the ground of equipment
It manages position and returns to user equipment.
Ground magnetic orientation is a kind of independent positioning method, and two-dimensional localization is obtained by acquiring one-dimensional earth's magnetic field in real time by force.
Geomagnetic matching measuring instrument can measure the component in three directions in earth's magnetic field simultaneously, such as north component, east component, vertical component,
Or arbitrary three orthogonal components.Algebraic operation is done to these three components, then can obtain the characteristic quantity in local earth's magnetic field.It is first
It is first grid by the region division that carrier is passed through, takes strong (or the other geomagnetic elements) conduct in the average earth's magnetic field on each grid
The earth magnetism field strength (or other geomagnetic elements) of the grid, material is thus formed earth magnetism reference maps.When carrier enters the region, ground
Magnetic Sensor acquires local geomagnetic field intensity (or other geomagnetic elements) in real time；A series of measured value can form one
One-dimensional measurement sequence.The measurement sequence and geomagnetic database are subjected to relevant matches, find most like point, its position is used for repairing
The site error of just other alignment systems (such as inertial positioning system), can complete the correction to carrier course error.It is practical
On, earth's magnetic field is a vector field, is the intrinsic resource of the earth, the feature with round-the-clock, round-the-clock, full region.In the earth
The geomagnetic fieldvector at any point has uniqueness in terrestrial space, and is theoretically corresponded with the longitude and latitude of the point, as long as
Global location can be realized in the geomagnetic fieldvector of accurate determining each point.
Base station location relies primarily on the location information that user is obtained with common carrier, and mobile phone measures different base station
Down-bound pilot frequency signal, obtain the TOA (Time of Arrival, arrival moment) of different base station descending pilot frequency or TDOA (Time
Difference of Arrival, reaching time-difference), according to the measurement result and the coordinate of combination base station, generally using triangle
Formula algorithm for estimating, it will be able to calculate the position of mobile phone.In general, the number of base stations of moving table measuring is more, survey
Accuracy of measurement is higher, and positioning performance improves more apparent.
After each mobile terminal obtains itself geographical location information by above-mentioned positioning method, to the ground of itself
It manages location information and carries out the processing of exceptional value and the selection of local auto-adaptive threshold value, the geographical location information after being optimized.
Exceptional value (outlier) is usually indivedual values in collected data, and numerical value deviates considerably from its affiliated data
Remaining observation of classification, also referred to as abnormal data, outlier.Because in position fixing process, whether satellite, earth magnetism or base station are believed
Number, it is all easily influenced by the earth characteristic in itself and atmospheric factor, will appear in a series of data unavoidably
The positioning result of numerical exception, such as the locator value very big or minimum with most of deviations, therefore, the rejecting of exceptional value is
It is highly desirable, this is conducive to mobile terminal to the optimization of self poisoning information so as to ensure that the accuracy of positioning.
Local auto-adaptive threshold value is commonly used in the binaryzation of image, common part in image binaryzation in image procossing
Adaptive threshold has：1) mean value of local neighborhood block；2) the Gauss weighted sum of local neighborhood block.
This local auto-adaptive threshold method is applied in the embodiment of the present invention, the geographical position obtained after rejecting abnormalities value
Confidence breath should be then same to ask for threshold value there are two types of method substantially within a certain subrange：It first, can be by data
It is arranged according to acquisition order, for each current position determination data, takes the positioning in its front and rear certain contiguous range
Threshold value of the mean value of data as current position determination data if current position determination data is more than the threshold value calculated, is then given up
The current data, this step traverse execution to each location data that mobile terminal is collected into；Another method is introduced such as
Under：For each current position determination data, the Gauss weighted sum conduct of location data in its front and rear certain contiguous range is taken
The threshold value of current position determination data, in the calculating of Gauss weighted sum, the neighborhood location data weight closer to current position determination data is got over
Greatly, conversely, the neighborhood location data weight further away from current position determination data is smaller, the size of weight and neighborhood can advance root
It is configured according to experience.The threshold value of each current position determination data can be obtained by the Gauss weighted sum of adjacent region data, if working as
Prelocalization data are more than the threshold value calculated, then give up the current data, this step is collected into mobile terminal each
A location data traverses execution.The location data other than threshold value can be left out to keep away by the selection of local auto-adaptive threshold value
Exempt from data redundancy and the interference to positioning accuracy.
Step 302：The mobile terminal receives and optimizes the wireless signal strength of other mobile terminals, obtains other described movements
Wireless signal strength after the optimization at end, and obtain from the wireless signal mark of other mobile terminals；
In appropriately distance, mobile terminal usually can receive the wireless signal of other mobile terminals transmission, but power is not
One, in the embodiment of the present invention, the wireless signal strength of each mobile-terminated other mobile terminals received is represented with RSSI.
RSSI, i.e. Received Signal Strength Indication are the optional parts for transmitting wirelessly layer, use
To judge link quality and whether increase broadcast transmission intensity.It is negative value that RSSI value, which is typically, because wireless signal is mostly mW
Rank so being polarized to it, is converted into dBm, it is not intended that signal is negative.1mW is exactly 0dBm, less than 1mW just
It is the dBm numbers of negative.
One mobile terminal uploads its other mobile terminal that can be searched while self poisoning information is uploaded to high in the clouds
Mark and with identifying corresponding RSSI value, at the same time other mobile terminals have also centainly searched this mobile terminal certainly
And uploading the mark and RSSI value of this mobile terminal, then high in the clouds being capable of phase by the identification of the mark that receives at this time
The mobile terminal mutually searched.In the communication process of wireless signal, with the increase of propagation distance, attenuation degree can also increase therewith
Greatly, therefore, according between two mobile terminals through a distance generate attenuation after RSSI can calculate two movement equipment it
Between distance.
Due to acquiring the randomness of signal, collected wireless signal strength can not be directly used in operation, need to it
It is handled.In the embodiment of the present invention, if the intensity of the mobile-terminated wireless signal of other mobile terminals received is used
When RSSI value represents, the mobile terminal carries out at exceptional value the RSSI value of other mobile terminals described in being received in the unit interval
Manage and handling result carried out the selection of local auto-adaptive threshold value.
The selection of outlier processing and local adaptive threshold narration in detail in step 301, i.e., neighboring mean value method and
Neighborhood Gauss weighted sum method, herein similarly, repeats no more.
It is worth noting that, in the embodiment of the present invention, the wireless signal identifier form of the mobile terminal is preset
With the unique identifying information of the unified mobile terminal；The mobile terminal is parsed according to the preset wireless signal identifier form
Obtain the mark of other mobile terminals.
The difference of wireless signal type and the device diversity of mobile terminal wireless signal of mobile terminal transmitting, including equipment
Mac addresses are unstable and the skimble-scamble problem of function so that high in the clouds can not accurate judgement wireless signal find the unique of mobile terminal
Identification information.Such as bluetooth, wifi near radios signal not unification and fixed identity, in scanning and identification process
It is middle to cause difficulty to the wireless signal sources discrimination of reception.For example, Bluetooth identification can it is self-defined either at any time change or
In same mobile terminal, the mark disunity of bluetooth and zigbee cause high in the clouds to cause confusion in the mobile equipment of identification, therefore,
In view of the above-mentioned problems, in the embodiment of the present invention, the wireless signal identifier of the mobile terminal, the unified mobile terminal are changed in advance
Wireless signal identifier form, so as to obtain the unique mark of other mobile terminals.Such as：By the wireless of a certain mobile phone
The uniform format of signal identifiers (bluetooth or wifi) is varied to shown form：ME_IOS/AD_CBUUID, so that
High in the clouds can be after ME_IOS/AD_CBUUID be monitored, uniquely by the wireless signal strength received and corresponding mobile phone
The corresponding precision with guarantee positioning.
Mobile equipment is varied, and equipment platform is different, and wireless signal transmission reception mechanism is different；Software platform simultaneously,
Operating system is different, and there is also difference for the communications protocol of equipment room.Such as Bluetooth technology is equally used, but Android, IOS,
The difference of the platforms such as WinPhone difference and Bluetooth chip causes mobile terminal possibly can not know the presence of other equipment.
Preferably, the application is carried out software optimization for varying environment, is realized and found by wireless signal by software scenario
Different platform moves equipment.
Step 303：The mobile terminal itself is optimized after geographical location information, reception and optimize after described in other shifting
The wireless signal strength of moved end, other mobile terminals mark be sent to high in the clouds in real time；
In the embodiment of the present invention, mobile terminal is substantially carried out the collection of data and sends data to high in the clouds, if user sends out
Location Request, without crossing multioperation.At the same time, mobile terminal optimizes the geographical location information of itself, is also accurately counted for high in the clouds
The relative position and absolute position for calculating mobile terminal have made good data place mat, try hard to keep the error of each process being reduced to minimum,
So as to improve whole indoor position accuracy.
Example IV
Fig. 4 is the techniqueflow chart of the embodiment of the present application four, and with reference to Fig. 4, the application is a kind of based on the accurate of wireless signal
In localization method, the operating procedure of high in the clouds side is as follows：
Step 401：Within the unit interval, high in the clouds receives the mobile end data from mobile terminal, wherein the mobile terminal number
According to after optimizing including the mobile terminal itself geographical location information, the mobile terminal receives and other mobile terminals after optimizing
Wireless signal strength, the mark of other mobile terminals；
The mobile terminal that is identified as of other wherein described mobile terminals is obtained by the wireless signal of other mobile terminals
The wireless signal identifier of other mobile terminals arrived；In the embodiment of the present invention, high in the clouds, that is, cloud computing unit, including but it is unlimited
In calculation server or mobile terminal.
The high in the clouds in the embodiment of the present invention, including form servers such as network server, distributed servers, is also wrapped
It includes through distributed cloud computing mode, distribution of computation tasks to many computing units is carried out.The computing unit includes service
The equipment related to the present invention for having computing capability such as device, PC, mobile terminal.And then the calculating task in high in the clouds can transfer to certain completely
Platform or more or all mobile terminal completions.Do not relying on network server, in the case that LAN (such as basement, without base station
Service, without GPS situations such as) can complete the present invention location technology scheme.
Step 402：The high in the clouds is received according to the mobile terminal and the wireless signal of other mobile terminals described in after optimizing
Intensity and other described mobile terminals receive and optimize after the mobile terminal wireless signal strength calculate the mobile terminal with
Equipment spacing between other described mobile terminals from；
When it is described it is mobile-terminated receive described in other mobile terminals optimization after the wireless signal strength RSSI value
During expression, the high in the clouds according to equation below calculate the mobile equipment spacing from：
Dist=10^ ((abs (RSSI)-a)/(10*n)) formula 1
In formula 1, dist is the equipment spacing from abs () is ABS function, and RSSI is the shifting in the unit time
Moved end receive and optimize after other mobile terminals wireless signal strength and after other described mobile terminals receive and optimize
The mean value of the wireless signal strength of the mobile terminal, a are the signal when mobile terminal is separated by unit distance with other mobile terminals
Intensity, n are the environmental attenuation factor, and for the embodiment of the present invention when calculating, n takes the decay factor value under the conditions of air borne.
Step 403：The high in the clouds goes out the mobile terminal according to the spectroscopic analysis of other mobile terminals and passes through wireless signal
Other the described mobile terminals that can be searched, and according to the geographical location information after the optimization of the mobile terminal and described
The equipment spacing between mobile terminal and other described mobile terminals is smart with other described mobile terminals from the mobile terminal is calculated
True relative position, and the absolute position after being optimized；
If learn not associated other mobile terminals in current mobile terminal by the analysis, step 404 is jumped to；If the cloud
End by the mark to other mobile terminals analyze its that learn that the mobile terminal in the range of predeterminable area can search
When the quantity of his mobile terminal is 1, step 405 is jumped to；If the high in the clouds is learnt according to the spectroscopic analysis of other mobile terminals
When the mobile terminal quantity that the mobile terminal can search within the scope of the predeterminable area is at least 2, step 406 is jumped to；
Step 404：The geographical location information after the optimization of the mobile terminal is read to obtain so that it is determined that the mobile terminal
The optimization after absolute position.
When the unique mark analysis for other mobile terminals that high in the clouds is uploaded by mobile terminal learns that current mobile terminal does not connect
When receiving the wireless signal of other mobile terminals, the acquisition of geographical location information can only be carried out by traditional positioning method.
Step 405：The mobile terminal and the geographical location information after the optimization of other mobile terminals are read, according to
The equipment spacing between the mobile terminal and other described mobile terminals is from the determining mobile terminal and other described mobile terminals
The accurate relative position and optimization after the absolute position.
Step 405 further comprises step 405a~step 405c：
Step 405a：The high in the clouds is centered on the geographical location of the mobile terminal, with the geographical location of the mobile terminal
Direction to the north pole for ordinate positive direction, establish coordinate system for abscissa positive direction eastwards to be parallel to weft direction；
Step 405b：The high in the clouds is according to the geographical location after the optimization of the mobile terminal and other mobile terminals
Information determines the relative angular orientation of the mobile terminal and other mobile terminals；
If mobile terminal is found that another mobile terminal by wireless signal, then two are contained in the data that high in the clouds receives
The respective location information in mobile terminal can learn the relative angle of the longitude and latitude of two mobile terminals i.e. substantially by the location information
Spend orientation.
Step 405c：The high in the clouds is according to the equipment spacing between the mobile terminal and other described mobile terminals from auxiliary
With the relative angular orientation between the mobile terminal and other described mobile terminals, the movement is determined on the coordinate system
End and other described mobile terminals accurately relative position, and obtain the absolute position after the optimization.
In general, the essence of two mobile terminals can not accurately be determined later by learning the substantially relative angular orientation of two mobile terminals
True position, once it is aided with the distance between two mobile terminals, then the accurate relative position between the two mobile terminals
Uniquely know.
Step 406：The mobile terminal is searched with other described mobile terminals according to each leisure predeterminable area range interior energy
Rope to mobile terminal quantity carry out descending and arrange to reduce data calculation amount, the result arranged according to the descending is successively read institute
The equipment spacing that the mobile terminal in the range of predeterminable area is stated between other mobile terminals that can search is from and according to described
The self geographical position information after the optimization of mobile terminal and other mobile terminals determine the mobile terminal with it is each described
The absolute position after the accurate relative position of other mobile terminals and optimization.
Step 406 further comprises step 406a~step 406d：
Step 406a：The high in the clouds is centered on the geographical location of the mobile terminal, with the geographical location of the mobile terminal
Direction to the north pole for ordinate positive direction, establish coordinate system for abscissa positive direction eastwards to be parallel to weft direction；
Step 406b：Geography after the optimization of other mobile terminals described according to the mobile terminal and each of the high in the clouds
Location information determines the relative angular orientation between the mobile terminal and other described each described mobile terminals；
High in the clouds is received after can obtaining each mobile terminal optimization after the mobile end data that each mobile terminal uploads
Geographical location information, can be learnt on map in the latitude and longitude information and multiple mobile terminals of each mobile terminal two-by-two
The relative angular orientation of mobile terminal.But with mobile terminal quantity increase and the limitation of positioning accuracy, if in a certain region
In the range of a mobile terminal can search several mobile terminals, then the determining of relative angular orientation can lead to the problem of.
For example, there is three mobile equipment in a building, the relative angle of the first equipment and the second equipment is x1, the first equipment and third
The relative angle of equipment is x2, is differed greatly since the direction of x1, x2 the two angles on map occurs in the error of precision,
When then will appear using second equipment as reference, first equipment is there are one locator value, using the third equipment as reference
When, first equipment has another locator value, the two locator values are possible to that difference is larger, and in this case, high in the clouds is easy to
Positioning the time-out even situation of positioning failure are generated, when therefore, in preset range there are multiple mobile terminals, needing, which increases by a step, comes
Optimal relative angular orientation between the mobile terminal is asked for, as described in step 406c.
Step 406c：Traverse the predeterminable area range, the method being fitted using data, calculate the mobile terminal with it is every
Optimal relative angular orientation between other a described mobile terminals；
The predeterminable area range mentioned in the embodiment of the present invention refers to limited orientation range, can be set according to movement
Depending on standby display level can also according to the demand of user depending on, the present invention be not intended to limit the big of the predeterminable area range
It is small.
Illustrate how the high in the clouds traverses predeterminable area range below with reference to Fig. 7, the method being fitted using data,
Calculate the optimal relative angular orientation of each mobile terminal.
As shown in fig. 7, in preset region, the multiple mobile terminals of diagram are dispersed with, each mobile terminal is moved according to other
The wireless signal identifier of moved end and the wireless signal strength of other mobile terminals identify and detect the search of preset range interior energy
Other movement equipment arrived.
First, all mobile terminals that can be searched in each mobile terminal traversal preset range, pass through the signal of Fig. 7, traversal
Result it is as follows：
The mobile terminal that mobile terminal A can be searched is：Mobile terminal B, mobile terminal C, mobile terminal D, mobile terminal G, mobile terminal A can be searched
Rope is to totally 4 mobile terminals.
The mobile terminal that mobile terminal B can be searched is：Mobile terminal A, mobile terminal C, mobile terminal G, mobile terminal B can search totally 3
A mobile terminal.
The mobile terminal that mobile terminal C can be searched is：Mobile terminal A, mobile terminal B, mobile terminal C can search totally 2 mobile terminals.
The mobile terminal that mobile terminal D can be searched is：Mobile terminal A, mobile terminal E, mobile terminal D can search totally 2 mobile terminals.
The mobile terminal that mobile terminal E can be searched is：Mobile terminal D, mobile terminal F, mobile terminal E can search totally 2 mobile terminals.
The mobile terminal that mobile terminal G can be searched is：Mobile terminal A, mobile terminal B, mobile terminal G can search totally 2 mobile terminals.
The mobile terminal that mobile terminal F can be searched is：Mobile terminal E, mobile terminal F can search totally 1 mobile terminal.
By traversing above as a result, finding that the mobile terminal in addition to the F of mobile terminal has coupled at least two mobile terminals, at this
How according to the multiple mobile terminals of connection relative bearing is determined in the case of kind, and unstable due to wireless signal is bound to cause to miss
How on earth the presence of difference selects most suitable opposite geographical location, it is necessary to the method being fitted using data.
What mobile terminal described first was searched with other described mobile terminals according to each leisure predeterminable area range interior energy
Mobile terminal quantity carries out descending arrangement, and rank results are：ABCDEGF.
For the A of mobile terminal, it can be obtained in positioning using mobile terminal B, mobile terminal C, mobile terminal D, mobile terminal G as reference
Take A respectively with B, C, D, between geographical location information obtain the relative angular orientation of A and B, the relative angular orientation of A and C, A
The relative angular orientation of relative angular orientation, A and G with D.But once high in the clouds calculates each above-mentioned relative angular orientation
As a result and read A respectively the equipment spacing between B, C, D, G from when, it is found that four results are not the same, therefore, can only
A mobile terminal is selected as reference.
As shown in fig. 7, mobile terminal A can search mobile terminal B, mobile terminal B can search mobile terminal C, and mobile terminal C
Mobile terminal A can be searched again, mobile terminal G can be searched by moving equally end B, and mobile terminal G can search mobile terminal A, in
For the B of mobile terminal, the mobile terminal that can be searched is also the mobile terminal that mobile terminal A can be searched, and quantity is most, because
This, can determine there is optimal relative bearing between mobile terminal A and mobile terminal B.
In the embodiment of the present invention, if the mobile terminal positioned at first is not the most shifting of the mobile terminal quantity that can be searched
Moved end, then after being located, once there is new mobile terminal, then needing to disconnect the mobile terminal for being previously-completed positioning could be by new shifting
Moved end adds in, and such calculating process is complicated, calculates intensity increase.Therefore, need to before positioning by the mobile terminal with it is described its
His mobile terminal carries out descending in regional extent according to the mobile terminal quantity that each leisure predeterminable area range interior energy searches, this
The purpose of arrangement is in the case of multiple mobile terminals, is positioned since the most mobile terminal of the mobile terminal quantity searched, can
By the location determination of multiple mobile terminals, when there is new mobile terminal to add in, can be incited somebody to action without changing oriented result at first
New mobile terminal adds in position fixing process, can greatly simplify the calculating process in positioning in this way, mitigates high in the clouds pressure.
Step 406d：The mobile equipment between other mobile terminals described according to the mobile terminal and each of the high in the clouds
Between distance be aided with the optimal relative angular orientation, the mobile terminal and other described mobile terminals are determined on the coordinate system
The accurate relative position, and obtain the absolute position after the optimization.
According to step step 406c and step 406d, by the calculating in high in the clouds, obtained the mobile terminal with it is described other
Optimal relative angular orientation between mobile terminal, stored in high in the clouds the equipment spacing of any two mobile terminal from, therefore with
Based on the relative distance of accurate mobile terminal, it is aided with relative angle, the relative position between multiple mobile terminals can be uniquely determined.
Step 407：The high in the clouds is by the accurate relative position and described in the mobile terminal and other described mobile terminals
Absolute position after optimization exports to the mobile terminal and is drawn out in the mobile terminal with the geographical location of the mobile terminal
Centered on position real time information figure.
It is worth noting that, the embodiment of the present invention can be according to the position coordinates figure, with reference to the wireless signal of mobile terminal
Intensity, judges whether mobile terminal nearby has practical wall.The mobile terminal and other described shiftings in the range of the predeterminable area
When the sum of moved end is at least 2, the high in the clouds according to the geographical location information after the optimization of each mobile terminal and/or
Each mobile-terminated wireless signal strength of other mobile terminals received whether have attenuation judge the mobile terminal and
It whether there is physical spacer between other described mobile terminals, and the material of the physical spacer judged according to the size of pad value
Matter, wherein, the correspondence in unit distance between the material of the pad value and the physical spacer is stored in be built in advance
In vertical unit distance in the table of comparisons of different propagation mediums and wireless signal strength pad value.
Usual indoor environment is complex, and signal is easily influenced during propagation by building and barrier, so as to
Signal is caused to have attenuation to a certain extent, power differs.
Therefore, in the embodiment of the present invention, high in the clouds, which calculates, learns between the mobile terminal and other described mobile terminals accurately
After relative distance, take and decay under the same conditions across the RSSI of the wall barrier of strength retrogression's minimum with the relative distance
Value is as RSSI drop thresholds are referred to, by the pad value of the RSSI between the mobile terminal and other described mobile terminals and the ginseng
RSSI drop thresholds are examined to be compared, if the pad value of the RSSI between the mobile terminal and other described mobile terminals be more than or
RSSI drop thresholds are referred to equal to described, then illustrate there must be wall barrier between the mobile terminal and the mobile terminal.Its
In, the standard RSSI that can be subtracted by the RSSI between the mobile terminal and other described mobile terminals under same distance obtains described
The pad value of RSSI between mobile terminal and other described mobile terminals inquires the embodiment of the present invention very much according to the size of this pad value
The table established in two can know which kind of material the barrier between the mobile terminal and other described mobile terminals is easily.
The RSSI pad values of the wall barrier of strength retrogression's minimum of the present invention be one be used for make the threshold value referred to,
Because the factor of RSSI attenuation is various, need that there are one threshold values to judge being strictly barrier rather than by air among mobile terminal
Flowing, Electromagnetic Interference generate attenuation etc.；Therefore, it is necessary to set the i.e. described reference of a lower threshold for the pad value of wireless signal
RSSI drop thresholds.Once the radio signal attenuation between certain two mobile terminal is more than the lower threshold, then can determine whether certain
It is because the presence of barrier results in attenuation.In the embodiment of the present invention, the wall minimum to RSSI attenuation has been selected to RSSI
The dough softening as it is described with reference to RSSI drop thresholds to reduce erroneous judgement situation.
The physical region in embodiment is further illustrated the present invention with lower part with a specific example to divide.
As shown in Figure 10, it is assumed that Figure 10 Scenes are factory floor.When actual range is S1 between M5 and M7, according to preceding
Scheme is stated, high in the clouds can receive following mobile end data：
1) average RSSI is R2 between M5 and M7, learns that the distance of M7 and M5 is S2 according to the calculating of formula 1；
2) absolute position after M7 optimizations；
3) absolute position after exact positions of the M5 with respect to M1, M2, M3, M4, M6 and M5 optimize；
2) and 3) learn that the distance of M5 and M7 is S3 according to result calculating；
If according to S3 it can be calculated that there was only air barrier between the two, average RSSI should be R3.R3 and R2 are compared
It is right, if the difference obtained refers to RSSI drop thresholds more than described, then it is assumed that there is barrier between M5 and M7.Further look into
Table can know barrier material.It is according to this principle, nearby multigroup barrier object location and material information is real-time in aforementioned location
Described point on hum pattern, and denoising is carried out, the profile diagram of the continuous barrier such as wall can be obtained.
It is worth noting that, in locating scheme proposed by the present invention, indoors without positioning methods such as GPS, earth magnetism, the Big Dippeves
Auxiliary under, if there are barriers between indoor first group of mobile terminal and second group of mobile terminal, can not accurately learn their essences
True relative position relation can then introduce third group mobile terminal at this time.The third group mobile terminal and first group of mobile terminal
There is no barrier between second group of mobile terminal, and all mobile terminals in first group of mobile terminal can search
All mobile terminals in the third group, all mobile terminals in second group of mobile terminal can be searched in the third group
All mobile terminals.As a result, can in the case of no barrier, according to all mobile terminals in first group of mobile terminal with
All mobile terminals calculating in the third group is learnt accurate opposite between first group of mobile terminal and third group mobile terminal
Position and second according to all mobile terminals in all mobile terminals in second group of mobile terminal and the third group
Accurate relative position between group mobile terminal and third group mobile terminal, according to triangle relation, even if there are would know that barrier
Accurate relative position between the first movement end and second group of mobile terminal.In above-mentioned computational methods, every group of movement
End includes at least three mobile terminals, and barrier is not present between these three mobile terminals and relative position is accurate.
In addition, the embodiment of the present invention also can be complete in the case where the outdoor positionings mode such as basement or subway is entirely ineffective
Into accurate relative positioning.If the high in the clouds learns the mobile terminal described pre- according to the spectroscopic analysis of other mobile terminals
If the mobile terminal quantity that regional extent interior energy searches is at least 2, read between the mobile terminal and other described mobile terminals
The equipment spacing from, can by data be fitted method, it is accurate to calculate the mobile terminal and other described mobile terminals
The relative position.
In such cases, if the mobile terminal and at least two mobile terminal in other described mobile terminals have been known in the high in the clouds
The optimization after geographical location information, then the high in the clouds can be according to the ground after the optimization of at least two mobile terminal
Manage the accurate described of the mobile terminal described in positional information calculation in the range of predeterminable area and each other mobile terminals
Absolute geographical location.
At the same time, the present invention can also utilize outdoor positioning to obtain accurate indoor positioning.For example, a mobile terminal is in room
Outside, another mobile terminal indoors, can learn that indoor another mobile terminal is accurate according to the accurate relative position of the two
Absolute position.In the embodiment of the present invention, data that high in the clouds is uploaded by mobile terminal are aided with traditional positioning method to each mobile terminal
Accurate Relatively orientation is carried out, further improves indoor absolute fix precision, at the same time, solves existing interior
The defects of needing to realize arrangement reference data in location technology.In addition, in the embodiment of the present invention, by carrying out physics to mobile terminal
The accurate relative position of mobile terminal, helps to solve practical problems, such as fire in the division in region and determining physical region
The rescue work at the scene such as earthquake etc., realistic meaning is clearly.
Embodiment five
Fig. 5 is the structure drawing of device of the embodiment of the present invention five, and with reference to Fig. 5, the present invention is a kind of based on the accurate of wireless signal
Positioning device includes following unit in mobile end side：Geographical location information acquiring unit 501, received signal strength acquiring unit
502nd, data transceiving unit 503.
The geographical location information acquiring unit 501, within the unit interval, mobile terminal to obtain and optimizes the ground of itself
Location information is managed, obtains the geographical location information after the mobile terminal optimization；
The received signal strength acquiring unit 502 receives for the mobile terminal and optimizes the wireless of other mobile terminals
Signal strength obtains the wireless signal strength after the optimization of other mobile terminals, and from the wireless signal described in acquisition
The mark of other mobile terminals；
The data transceiving unit 503, geographical location information, reception after for the mobile terminal, itself is optimized are simultaneously excellent
The wireless signal strength of other mobile terminals after change, the mark of other mobile terminals are sent to high in the clouds in real time；So that institute
High in the clouds is stated to be received according to the mobile terminal and the wireless signal strength of other mobile terminals described in after optimizing and other described shiftings
The wireless signal strength of the mobile terminal after moved end receives and optimizes is calculated between the mobile terminal and other described mobile terminals
Equipment spacing from；The high in the clouds goes out the mobile terminal according to the spectroscopic analysis of other mobile terminals can by wireless signal
The quantity of other mobile terminals searched, and according to the self geographical position information after the optimization of the mobile terminal and
The equipment spacing is and exhausted after being optimized from calculating the mobile terminal and the accurate relative position in other mobile terminals
To position；The high in the clouds will be exhausted behind the mobile terminal and other described mobile terminals accurately relative position and the optimization
Position is exported to the mobile terminal and the position centered on the geographical location of the mobile terminal is drawn out in the mobile terminal
Put real time information figure.
The geographical location information acquiring unit 501 is further used for：The mobile terminal obtains itself by positioning method
Geographical location information, the positioning method include GPS positioning, the Big Dipper positioning, WiFi positioning, magnetic orientation, base station location；Institute
It states mobile terminal and the processing of exceptional value and the selection of local auto-adaptive threshold value is carried out to the geographical location information of itself, obtain
Geographical location information after optimization.
The received signal strength acquiring unit 502 is further used for：To the wireless signal identifier lattice of the mobile terminal
Formula is preset with the unique identifying information of the unified mobile terminal；The mobile terminal is identified according to the preset wireless signal
Symbol form parses to obtain the mark of other mobile terminals.
It is described if the mobile-terminated intensity of the wireless signal of other mobile terminals received is represented with RSSI value
Received signal strength acquiring unit 502 is further used for：The mobile terminal is to other movements described in being received in the unit interval
The RSSI value at end carries out outlier processing and the selection of local auto-adaptive threshold value is carried out to handling result.
The embodiment of the present invention movement end device in each unit by after optimization the geographical location information of itself, receive simultaneously
The wireless signal strength of other mobile terminals after optimization and corresponding identifier are sent to high in the clouds, realize mobile terminal side height
The data preparation and data collection of precision facilitate the calculating in high in the clouds, while are also pinpoint significant data basis.
Embodiment six
Fig. 6 is the structure drawing of device of the embodiment of the present invention six, and with reference to Fig. 6, the present invention is a kind of based on the accurate of wireless signal
Side includes following unit to positioning device beyond the clouds：Data receipt unit 601, metrics calculation unit 602, position calculation unit
603rd, position output unit 604.
The data receipt unit 601, within the unit interval, high in the clouds to receive the mobile end data from mobile terminal,
Wherein described mobile terminal data include the geographical location information after the optimization of the mobile terminal itself, the mobile terminal receives and optimizes
The wireless signal strength of other mobile terminals afterwards, the mark of other mobile terminals, wherein being identified as other mobile terminals is described
Mobile terminal by the wireless signal of other mobile terminals get described in other mobile terminals wireless signal identifier；
The metrics calculation unit 602, received for the high in the clouds according to the mobile terminal and described in after optimizing other
The wireless signal strength of mobile terminal and other described mobile terminals receive and optimize after the mobile terminal wireless signal strength
Calculate equipment spacing between the mobile terminal and other described mobile terminals from；
The position calculation unit 603 goes out the shifting for the high in the clouds according to the spectroscopic analysis of other mobile terminals
Moved end by wireless signal can search described in other mobile terminals, and according to the geography after the optimization of the mobile terminal
The equipment spacing between location information and the mobile terminal and other described mobile terminals from calculate the mobile terminal with
The accurate relative position in other mobile terminals, and the absolute position after being optimized；
The position output unit 604, for the high in the clouds by the mobile terminal and the accurate institute in other described mobile terminals
The absolute position after relative position and the optimization is stated to export to the mobile terminal and draw out with described in the mobile terminal
Position real time information figure centered on the geographical location of mobile terminal.
The position calculation unit 603 is further used for, if the high in the clouds passes through the mark to other mobile terminals
When analysis learns that the mobile terminal fails to search other mobile terminals, the geographical location after the optimization of the mobile terminal is read
Information obtains the absolute position so that it is determined that after the optimization of the mobile terminal.
The metrics calculation unit 602, is further used for：When it is described it is mobile-terminated receive described in other mobile terminals it is excellent
When the wireless signal strength after change is represented with RSSI value, the high in the clouds calculates the mobile equipment spacing according to equation below
From：
Dist=10^ ((abs (RSSI)-a)/(10*n))
Wherein, dist is the equipment spacing from abs () is ABS function, and RSSI is the movement in the unit time
End receives and the wireless signal strength of other mobile terminals after optimizing and other described mobile terminals receive and optimize after institute
State the mean value of the wireless signal strength of mobile terminal, signal when a is the mobile terminal and other mobile terminals are separated by unit distance is strong
Degree, n are the environmental attenuation factor.
The position calculation unit 603 is further used for：If the high in the clouds by the mark to other mobile terminals into
Row analysis learn other mobile terminals that the mobile terminal can search in the range of predeterminable area quantity be 1 when, read the shifting
Moved end and the geographical location information after the optimization of other mobile terminals, according to the mobile terminal and other described mobile terminals
Between the equipment spacing from the determining mobile terminal and the accurately relative position and the optimization of other described mobile terminals
The absolute position afterwards.
The position calculation unit 603 is further used for：If the high in the clouds is according to the spectroscopic analysis of other mobile terminals
When the mobile terminal quantity that learning the mobile terminal can search within the scope of the predeterminable area is at least 2, by the mobile terminal
With other described mobile terminals descending arrangement is carried out according to the mobile terminal quantity that each leisure predeterminable area range interior energy searches
To reduce data calculation amount, the result arranged according to the descending is successively read mobile terminal and energy in the range of the predeterminable area
The equipment spacing between other mobile terminals searched is from and according to the optimization of the mobile terminal and other mobile terminals
The self geographical position information afterwards determines the mobile terminal and other each described mobile terminals accurately relative position
And the absolute position after optimization.
The position calculation unit 603 is further used for：The high in the clouds centered on the geographical location of the mobile terminal, with
The direction to the north pole in the geographical location of the mobile terminal is ordinate positive direction, square for abscissa eastwards to be parallel to weft direction
To establishing coordinate system；The high in the clouds is according to the geographical location information after the optimization of the mobile terminal and other mobile terminals
Determine the relative angular orientation of the mobile terminal and other mobile terminals；The high in the clouds according to the mobile terminal with it is described other
The equipment spacing between mobile terminal is from the relative angle side being aided between the mobile terminal and other described mobile terminals
Position determines the mobile terminal and other described mobile terminals accurately relative position, and obtaining described on the coordinate system
Absolute position after optimization.
The position calculation unit 603 is further used for：The high in the clouds centered on the geographical location of the mobile terminal, with
The direction to the north pole in the geographical location of the mobile terminal is ordinate positive direction, square for abscissa eastwards to be parallel to weft direction
To establishing coordinate system；Geographical location after the optimization of other mobile terminals described according to the mobile terminal and each of the high in the clouds
Information determines the relative angular orientation between the mobile terminal and other described each described mobile terminals；Traverse the preset areas
Domain range, the method being fitted using data calculate the optimal phase between the mobile terminal and other each described mobile terminals
To angle orientation；The high in the clouds according to the mobile terminal and it is each described in the mobile equipment spacing between other mobile terminals from
It is aided with the optimal relative angular orientation, determines that the mobile terminal and other described mobile terminals are accurate on the coordinate system
The relative position, and obtain the absolute position after the optimization.
The position output unit 604 is further used for, the mobile terminal and institute in the range of the predeterminable area
When stating the sums of other mobile terminals and being at least 2, the high in the clouds is according to the geographical location after the optimization of each mobile terminal
Whether information and/or each mobile-terminated wireless signal strength of other mobile terminals received have described in attenuation judgement
With the presence or absence of physical spacer between mobile terminal and other described mobile terminals, and judged between the physics according to the size of pad value
The material of parting, wherein, the correspondence in unit distance between the material of the pad value and the physical spacer preserves
In the wireless signal strength attenuation table of comparisons pre-established.
The embodiment of the present invention also provides a kind of Precise Position System based on wireless signal, including mobile terminal and high in the clouds,
In, mobile terminal includes the accurate positioning device based on wireless signal that embodiment as shown in Figure 5 provides, and high in the clouds is included such as Fig. 6 institutes
Show the accurate positioning device based on wireless signal that embodiment provides.The method as described in any one of Fig. 1-Fig. 4 can be performed,
Its implementing principle and technical effect repeats no more.
Several preferred embodiments of the present invention have shown and described in above description, but as previously described, it should be understood that the present invention
Be not limited to form disclosed herein, be not to be taken as the exclusion to other embodiment, and available for various other combinations,
Modification and environment, and the above teachings or related fields of technology or knowledge can be passed through in the scope of the invention is set forth herein
It is modified.And changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, then it all should be in this hair
In the protection domain of bright appended claims.
Claims (29)
1. a kind of accurate positioning method based on wireless signal, which is characterized in that including：
Within the unit interval, mobile terminal obtains and optimizes the geographical location information of itself, obtains the ground after the mobile terminal optimization
Manage location information；
The mobile terminal receives and optimizes the wireless signal strength of other mobile terminals, after obtaining the optimization of other mobile terminals
Wireless signal strength, and obtain from the wireless signal mark of other mobile terminals；
The mobile terminal itself is optimized after geographical location information, reception and optimize after described in other mobile terminals wireless communication
Number intensity, the mark of other mobile terminals are sent to high in the clouds in real time；So that the high in the clouds receives and excellent according to the mobile terminal
The wireless signal strength of other mobile terminals after change and other described mobile terminals receive and optimize after the mobile terminal
Wireless signal strength calculate equipment spacing between the mobile terminal and other described mobile terminals from；The high in the clouds is according to
The spectroscopic analysis of other mobile terminals go out the mobile terminal by wireless signal can search described in other mobile terminals quantity,
And according to the self geographical position information after the optimization of the mobile terminal and the equipment spacing from calculate the mobile terminal with
The accurate relative position in other mobile terminals, and the absolute position after being optimized；The high in the clouds is by the mobile terminal and institute
Absolute position of other mobile terminals accurately after the relative position and the optimization is stated to export to the mobile terminal and described
The position real time information figure centered on the geographical location of the mobile terminal is drawn out in mobile terminal.
2. according to the method described in claim 1, it is characterized in that, mobile terminal obtains and optimizes the geographical location information of itself,
Including：
The mobile terminal obtains the geographical location information of itself by positioning method, and the positioning method includes GPS positioning, the Big Dipper
Positioning, WiFi positioning, magnetic orientation, base station location；
The mobile terminal carries out the processing of exceptional value and the choosing of local auto-adaptive threshold value to the geographical location information of itself
It takes, the geographical location information after being optimized.
3. according to the method described in claim 1, it is characterized in that, other mobile terminals are obtained from the wireless signal
Before mark, further comprise：
The wireless signal identifier form of the mobile terminal is preset with the unique identifying information of the unified mobile terminal；
The mark of the mobile terminal other mobile terminals according to the preset wireless signal identifier form parses to obtain
Know.
4. if the according to the method described in claim 1, mobile-terminated wireless signal of other mobile terminals received
When intensity is represented with RSSI value, then the mobile terminal receives and optimizes the wireless signal strength of other mobile terminals, obtain it is described its
Wireless signal strength after the optimization of his mobile terminal, further comprises：
The mobile terminal carries out outlier processing and to place to the RSSI value of other mobile terminals described in being received in the unit interval
Manage the selection that result carries out local auto-adaptive threshold value.
5. a kind of accurate positioning method based on wireless signal, which is characterized in that including：
Within the unit interval, high in the clouds receives the mobile end data from mobile terminal, wherein the mobile terminal data include the shifting
Moved end itself optimization after geographical location information, the mobile terminal receive and optimize after other mobile terminals wireless signal it is strong
Degree, the mark of other mobile terminals, wherein the mobile terminal that is identified as of other mobile terminals passes through other mobile terminals
The wireless signal identifier of other mobile terminals that wireless signal is got；
The high in the clouds is received according to the mobile terminal and the wireless signal strength of other mobile terminals described in after optimizing and described
The wireless signal strength of the mobile terminal after other mobile terminals receive and optimize calculates the mobile terminal and other described movements
Equipment spacing between end from；
The high in the clouds goes out what the mobile terminal can be searched by wireless signal according to the spectroscopic analysis of other mobile terminals
Other described mobile terminals, and according to the geographical location information after the optimization of the mobile terminal and the mobile terminal with it is described
The equipment spacing between other mobile terminals from calculating the mobile terminal and the accurate relative position in other mobile terminals,
And the absolute position after being optimized；
The high in the clouds will be absolute behind the mobile terminal and other described mobile terminals accurately relative position and the optimization
Position exports to the mobile terminal and the position centered on the geographical location of the mobile terminal is drawn out in the mobile terminal
Real time information figure.
6. the according to the method described in claim 5, it is characterized in that, spectroscopic analysis of the high in the clouds other mobile terminals according to
Go out the mobile terminal by wireless signal can search described in other mobile terminals, and according to the optimization of the mobile terminal
The equipment spacing between rear geographical location information and the mobile terminal and other described mobile terminals is described from calculating
Mobile terminal and the accurate relative position in other mobile terminals, and the absolute position after being optimized, further comprise：
If the high in the clouds learns that the mobile terminal fails to search other shiftings by the analysis of the mark to other mobile terminals
During moved end, read the geographical location information after the optimization of the mobile terminal and obtain the optimization so that it is determined that the mobile terminal
Absolute position afterwards.
7. according to the method described in claim 5, it is characterized in that, after the high in the clouds receives and optimizes according to the mobile terminal
The wireless signal strength of other mobile terminals and other described mobile terminals receive and optimize after the mobile terminal it is wireless
Signal strength calculates equipment spacing between the mobile terminal and other described mobile terminals from further comprising：
When it is described it is mobile-terminated receive described in other mobile terminals optimization after the wireless signal strength represented with RSSI value
When, the high in the clouds according to equation below calculate the equipment spacing from：
Dist=10^ ((abs (RSSI)-a)/(10*n))
Wherein, dist is the equipment spacing from abs () is ABS function, and RSSI is described mobile-terminated in the unit time
The wireless signal strength of other mobile terminals after receiving and optimizing and other described mobile terminals receive and optimize after the shifting
The mean value of the wireless signal strength of moved end, a are separated by signal strength during unit distance, n for the mobile terminal with other mobile terminals
For the environmental attenuation factor.
8. the according to the method described in claim 5, it is characterized in that, spectroscopic analysis of the high in the clouds other mobile terminals according to
Go out the mobile terminal by wireless signal can search described in other mobile terminals, and according to the optimization of the mobile terminal
The equipment spacing between rear geographical location information and the mobile terminal and other described mobile terminals is described from calculating
Mobile terminal and the accurate relative position in other mobile terminals, and the absolute position after being optimized, further comprise：
If the high in the clouds carries out analysis by the mark to other mobile terminals and learns the mobile terminal in the range of predeterminable area
When the quantity for other mobile terminals that can be searched is 1, after the optimization for reading the mobile terminal and other mobile terminals
Geographical location information, according to the equipment spacing between the mobile terminal and other described mobile terminals from the determining mobile terminal
With the absolute position after the accurate relative position of other mobile terminals and optimization.
9. the according to the method described in claim 5, it is characterized in that, spectroscopic analysis of the high in the clouds other mobile terminals according to
Go out the mobile terminal by wireless signal can search described in other mobile terminals, and according to the optimization of the mobile terminal
The equipment spacing between rear geographical location information and the mobile terminal and other described mobile terminals is described from calculating
Mobile terminal and the accurate relative position in other mobile terminals, and the absolute position after the optimization is obtained, further comprise：
If the high in the clouds learns that the mobile terminal can be searched within the scope of predeterminable area according to the spectroscopic analysis of other mobile terminals
Rope to mobile terminal quantity be at least 2 when, by the mobile terminal and other described mobile terminals according to each leisure predeterminable area
The mobile terminal quantity that range interior energy searches carries out descending and arranges to reduce data calculation amount, the result arranged according to the descending
The equipment spacing between the mobile terminal being successively read in the range of the predeterminable area and other mobile terminals that can be searched from,
And according to the self geographical position information after the optimization of the mobile terminal and other mobile terminals determine the mobile terminal with it is every
The absolute position after the accurate relative position of a other mobile terminals and optimization.
10. according to the method described in claim 8, read the mobile terminal and the ground after the optimization of other mobile terminals
Manage location information, according to the equipment spacing between the mobile terminal and other described mobile terminals from the determining mobile terminal and
The accurate relative position of other mobile terminals, further comprises：
Centered on the geographical location of the mobile terminal, the direction to the north pole using the geographical location of the mobile terminal is vertical in the high in the clouds
Coordinate positive direction establishes coordinate system for abscissa positive direction eastwards to be parallel to weft direction；
The high in the clouds is according to determining the geographical location information after the optimization of the mobile terminal and other mobile terminals
Mobile terminal and the relative angular orientation of other mobile terminals；
The high in the clouds is according to the equipment spacing between the mobile terminal and other described mobile terminals from being aided with the mobile terminal
With the relative angular orientation between other described mobile terminals, on the coordinate system determine the mobile terminal with it is described other
The mobile terminal accurately relative position, and obtain the absolute position after the optimization.
11. it according to the method described in claim 9, it is characterized in that, is successively read according to the result that the descending arranges described
The equipment spacing between mobile terminal in the range of predeterminable area and other mobile terminals that can be searched is from and according to the shifting
The self geographical position information after the optimization of moved end and other mobile terminals determine the mobile terminal with it is each it is described its
The accurate relative position of his mobile terminal, further comprises：
Centered on the geographical location of the mobile terminal, the direction to the north pole using the geographical location of the mobile terminal is vertical in the high in the clouds
Coordinate positive direction establishes coordinate system for abscissa positive direction eastwards to be parallel to weft direction；
Geographical location information after the optimization of other mobile terminals described according to the mobile terminal and each of the high in the clouds, determines
Relative angular orientation between the mobile terminal and other described each described mobile terminals；
The predeterminable area range is traversed, the method being fitted using data calculates the mobile terminal and other each described shiftings
Optimal relative angular orientation between moved end；
The high in the clouds according to the mobile terminal and it is each described in the equipment spacing between other mobile terminals from described in being aided with most
Excellent relative angular orientation determines the mobile terminal and other each described mobile terminals accurately opposite position on the coordinate system
It puts, and the absolute position after being optimized.
12. method according to claim 8 or claim 9, which is characterized in that the method further includes：
When the sum of the mobile terminal and other mobile terminals is at least 2 in the range of the predeterminable area, the high in the clouds root
According to the geographical location information after the optimization of each mobile terminal and/or it is each it is described it is mobile-terminated receive described in other
Whether the wireless signal strength of mobile terminal has attenuation to judge to whether there is physics between the mobile terminal and other described mobile terminals
Spacer, and judge according to the size of pad value the material of the physical spacer, wherein, in unit distance the pad value with
Correspondence between the material of the physical spacer is stored in the wireless signal strength attenuation table of comparisons pre-established.
13. according to the method described in claim 5, it is characterized in that, the method further includes：
If the high in the clouds learns that the mobile terminal can be searched within the scope of predeterminable area according to the spectroscopic analysis of other mobile terminals
Rope to mobile terminal quantity be at least 2 when, read the equipment spacing between the mobile terminal and other described mobile terminals from,
The method being fitted by data calculates the mobile terminal and other described mobile terminals accurately relative position.
14. according to the method for claim 13, which is characterized in that the method further includes：
If the accurate absolute geography of the mobile terminal and at least two mobile terminal in other described mobile terminals has been known in the high in the clouds
Position, then the high in the clouds can be pre- according to the accurate absolute geographical positional information calculation of at least two mobile terminal
If the accurate absolute geographical location of the mobile terminal and each other mobile terminals in regional extent.
15. a kind of accurate positioning device based on wireless signal, positioned at mobile end side, which is characterized in that including：
Geographical location information acquiring unit, within the unit interval, mobile terminal to obtain and optimizes the geographical location information of itself,
Obtain the geographical location information after the mobile terminal optimization；
Received signal strength acquiring unit receives and is optimized for the mobile terminal wireless signal strength of other mobile terminals, obtains
Wireless signal strength to after the optimization of other mobile terminals, and other mobile terminals are obtained from the wireless signal
Mark；
Data transceiving unit, geographical location information, reception after for the mobile terminal, itself is optimized and described in after optimizing
The wireless signal strength of other mobile terminals, other mobile terminals mark be sent to high in the clouds in real time；So that the high in the clouds according to
The mobile terminal receive and optimize after other mobile terminals wireless signal strength and other described mobile terminals receive simultaneously
The wireless signal strength of the mobile terminal after optimization calculates the equipment spacing between the mobile terminal and other described mobile terminals
From；High in the clouds spectroscopic analysis of other mobile terminals according to goes out the institute that the mobile terminal can be searched by wireless signal
State the quantity of other mobile terminals, and according to the self geographical position information after the optimization of the mobile terminal and the equipment spacing from
The mobile terminal and the accurate relative position in other mobile terminals are calculated, and the absolute position after being optimized；The cloud
End by the absolute position behind the mobile terminal and other described mobile terminals accurately relative position and the optimization export to
The position real time information figure centered on the geographical location of the mobile terminal is simultaneously drawn out in the mobile terminal in the mobile terminal.
16. device according to claim 15, which is characterized in that the geographical location information acquiring unit is further used
In：
The geographical location information of itself is obtained by positioning method, the positioning method includes GPS positioning, Big Dipper positioning, WiFi
Positioning, magnetic orientation, base station location；
The processing of exceptional value and the selection of local auto-adaptive threshold value are carried out to the geographical location information of itself, optimized
Geographical location information afterwards.
17. device according to claim 15, which is characterized in that the received signal strength acquiring unit is further used
In：
According to the wireless signal that other mobile terminals described in the parsing of preset wireless signal identifier form are sent, from the wireless communication
Parsing obtains the mark of other mobile terminals in number.
18. device according to claim 15, described to receive letter if the intensity of the wireless signal is represented with RSSI value
Number intensity acquiring unit is further used for：
Outlier processing is carried out to the RSSI value of other mobile terminals described in being received in the unit interval and handling result is carried out
The selection of local auto-adaptive threshold value.
19. a kind of accurate positioning device based on wireless signal, positioned at high in the clouds side, which is characterized in that including：
Data receipt unit, within the unit interval, receiving the mobile end data from mobile terminal, wherein the mobile terminal number
According to after optimizing including the mobile terminal itself geographical location information, the mobile terminal receives and other mobile terminals after optimizing
Wireless signal strength, the mark of other mobile terminals, wherein other mobile terminals be identified as the mobile terminal by it is described its
The wireless signal identifier of other mobile terminals that the wireless signal of his mobile terminal is got；
Metrics calculation unit, for received according to the mobile terminal and after optimizing described in other mobile terminals wireless signal strength
And other described mobile terminals receive and optimize after the mobile terminal wireless signal strength calculate the mobile terminal with it is described
Equipment spacing between other mobile terminals from；
Position calculation unit, can by wireless signal for going out the mobile terminal according to the spectroscopic analysis of other mobile terminals
Other the described mobile terminals searched, and according to the geographical location information after the optimization of the mobile terminal and the movement
The equipment spacing between end and other described mobile terminals is accurate from the mobile terminal and other described mobile terminals are calculated
Relative position, and the absolute position after being optimized；
Position output unit, for by the mobile terminal and the accurately relative position and the optimization of other described mobile terminals
Absolute position afterwards exports to the mobile terminal and draws out the geographical location using the mobile terminal in the mobile terminal
The position real time information figure of the heart.
20. device according to claim 19, which is characterized in that the position calculation unit is further used for,
If learn that the mobile terminal fails to search other mobile terminals by the analysis of the mark to other mobile terminals, read
The geographical location information after the optimization of the mobile terminal is taken to obtain so that it is determined that mobile terminal described in relative position with it is described other
The accurate relative position in mobile terminal.
21. device according to claim 19, which is characterized in that the metrics calculation unit is further used for：
When it is described it is mobile-terminated receive described in other mobile terminals optimization after the wireless signal strength represented with RSSI value
When, according to equation below calculate the equipment spacing from：
Dist=10^ ((abs (RSSI)-a)/(10*n))
Wherein, dist is the equipment spacing from abs () is ABS function, and RSSI is described mobile-terminated in the unit time
The wireless signal strength of other mobile terminals after receiving and optimizing and other described mobile terminals receive and optimize after the shifting
The mean value of the wireless signal strength of moved end, a are separated by signal strength during unit distance, n for the mobile terminal with other mobile terminals
For the environmental attenuation factor.
22. device according to claim 19, which is characterized in that the position calculation unit is further used for：
If carrying out analysis by the mark to other mobile terminals learns that the mobile terminal can search in the range of predeterminable area
The quantity of other mobile terminals when being 1, read the geographical location after the optimization of the mobile terminal and other mobile terminals
Information, according to the equipment spacing between the mobile terminal and other described mobile terminals from the determining mobile terminal with it is described its
The accurate absolute position after the relative position and optimization in his mobile terminal.
23. device according to claim 19, which is characterized in that the position calculation unit is further used for：
If the shifting that the mobile terminal can search within the scope of predeterminable area is learnt according to the spectroscopic analysis of other mobile terminals
When moved end quantity is at least 2, by the mobile terminal and other described mobile terminals according to each leisure predeterminable area range interior energy
The mobile terminal quantity searched carries out descending and arranges to reduce data calculation amount, and the result arranged according to the descending is successively read
The equipment spacing between mobile terminal in the range of the predeterminable area and other mobile terminals that can be searched is from and according to institute
State the self geographical position information after the optimization of mobile terminal and other mobile terminals determine the mobile terminal with it is each it is described its
The absolute position after the accurate relative position of his mobile terminal and optimization.
24. device according to claim 22, the position calculation unit is further used for：
Centered on the geographical location of the mobile terminal, using the direction to the north pole in the geographical location of the mobile terminal as ordinate pros
To establishing coordinate system for abscissa positive direction eastwards to be parallel to weft direction；
According to the geographical location information after the optimization of the mobile terminal and other mobile terminals determine the mobile terminal and
The relative angular orientation of other mobile terminals；
According to the equipment spacing between the mobile terminal and other described mobile terminals from be aided with the mobile terminal with it is described its
The relative angular orientation between his mobile terminal determines the mobile terminal and other described mobile terminals essence on the coordinate system
The true relative position, and obtain the absolute position after the optimization.
25. device according to claim 23, which is characterized in that the position calculation unit is further used for：
Centered on the geographical location of the mobile terminal, using the direction to the north pole in the geographical location of the mobile terminal as ordinate pros
To establishing coordinate system for abscissa positive direction eastwards to be parallel to weft direction；
According to the mobile terminal with it is each described in other mobile terminals the optimization after geographical location information, determine the movement
Relative angular orientation between end and other described each described mobile terminals；
The predeterminable area range is traversed, the method being fitted using data calculates the mobile terminal and other each described shiftings
Optimal relative angular orientation between moved end；
According to the mobile terminal and it is each described in the equipment spacing between other mobile terminals it is described optimal opposite from being aided with
Angle orientation determines the mobile terminal and the accurate relative position in other each described mobile terminals on the coordinate system, and obtains
Absolute position after to optimization.
26. the device according to claim 22 or 23, which is characterized in that the position output unit is further used for,
When the sum of the mobile terminal and other mobile terminals is at least 2 in the range of the predeterminable area, according to each institute
State the geographical location information after the optimization of mobile terminal and/or each mobile-terminated other mobile terminals received
Whether wireless signal strength has attenuation to judge with the presence or absence of physical spacer between the mobile terminal and other described mobile terminals, and
The material of the physical spacer is judged according to the size of pad value, wherein, the pad value and the physics in unit distance
Correspondence between the material of spacer is stored in the wireless signal strength attenuation table of comparisons pre-established.
27. device according to claim 19, which is characterized in that the position calculation unit is further used for：
If the high in the clouds learns that the mobile terminal can be searched within the scope of predeterminable area according to the spectroscopic analysis of other mobile terminals
Rope to mobile terminal quantity be at least 2 when, read the equipment spacing between the mobile terminal and other described mobile terminals from,
The method being fitted by data calculates the mobile terminal and other described mobile terminals accurately relative position.
28. device according to claim 27, which is characterized in that the position calculation unit is further used for：
If the mobile terminal and the ground after the optimization of at least two mobile terminal in other described mobile terminals have been known in the high in the clouds
Location information is managed, then the high in the clouds can calculate institute according to the geographical location information after the optimization of at least two mobile terminal
State the accurate absolute geographical location of the mobile terminal and each other mobile terminals in the range of predeterminable area.
29. a kind of Precise Position System based on wireless signal, which is characterized in that including：Mobile terminal and high in the clouds；
The mobile terminal includes the accurate positioning device based on wireless signal as described in any one of claim 15-18；
The high in the clouds includes the accurate positioning device based on wireless signal as described in any one of claim 19-28.
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| CN107635209B (en) * | 2017-09-13 | 2020-09-01 | 西安航光卫星测控技术有限公司 | Beidou positioning device with enhanced machine communication function and implementation method |
| CN107613464A (en) * | 2017-10-30 | 2018-01-19 | 云南民族大学 | A kind of wireless sensor network positioning system |
| CN108040324B (en) * | 2017-11-16 | 2020-05-01 | 南方科技大学 | Positioning method and positioning system of rescue capsule robot |
| CN107991648B (en) * | 2017-11-28 | 2019-10-11 | 中国联合网络通信集团有限公司 | A kind of the search and rescue localization method and device of disaster affected people |
| CN109959894B (en) * | 2017-12-26 | 2021-06-04 | 深圳市优必选科技有限公司 | Positioning method and terminal equipment |
| CN110386107B (en) * | 2018-04-20 | 2021-10-22 | 比亚迪股份有限公司 | Vehicle and unlocking method and unlocking device thereof |
| CN108801275B (en) * | 2018-06-11 | 2021-11-16 | 西安天图测绘信息技术有限公司 | Indoor mobile robot fingerprint map establishing method based on wireless network and geomagnetic signals |
| CN109035850A (en) * | 2018-08-10 | 2018-12-18 | 湖南正维新能源科技有限责任公司 | A kind of truck space guiding system and its method |
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| CN110505291B (en) * | 2019-08-12 | 2022-04-29 | 北京无线体育俱乐部有限公司 | Position monitoring method, server, system and storage medium |
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